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<pre><span class="sourceLineNo">001</span>/*----------------------------------------------------------------------------*/<a name="line.1"></a>
<span class="sourceLineNo">002</span>/* Copyright (c) FIRST 2008. All Rights Reserved.                             */<a name="line.2"></a>
<span class="sourceLineNo">003</span>/* Open Source Software - may be modified and shared by FRC teams. The code   */<a name="line.3"></a>
<span class="sourceLineNo">004</span>/* must be accompanied by the FIRST BSD license file in the root directory of */<a name="line.4"></a>
<span class="sourceLineNo">005</span>/* the project.                                                               */<a name="line.5"></a>
<span class="sourceLineNo">006</span>/*----------------------------------------------------------------------------*/<a name="line.6"></a>
<span class="sourceLineNo">007</span><a name="line.7"></a>
<span class="sourceLineNo">008</span>package edu.wpi.first.wpilibj.templates;<a name="line.8"></a>
<span class="sourceLineNo">009</span><a name="line.9"></a>
<span class="sourceLineNo">010</span><a name="line.10"></a>
<span class="sourceLineNo">011</span>import edu.wpi.first.wpilibj.IterativeRobot;<a name="line.11"></a>
<span class="sourceLineNo">012</span>import edu.wpi.first.wpilibj.command.Command;<a name="line.12"></a>
<span class="sourceLineNo">013</span>import edu.wpi.first.wpilibj.command.Scheduler;<a name="line.13"></a>
<span class="sourceLineNo">014</span>import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;<a name="line.14"></a>
<span class="sourceLineNo">015</span>import edu.wpi.first.wpilibj.templates.commands.AutonomousCommand;<a name="line.15"></a>
<span class="sourceLineNo">016</span>import edu.wpi.first.wpilibj.templates.commands.CommandBase;<a name="line.16"></a>
<span class="sourceLineNo">017</span>import edu.wpi.first.wpilibj.templates.commands.ExampleCommand;<a name="line.17"></a>
<span class="sourceLineNo">018</span>import edu.wpi.first.wpilibj.templates.commands.driver.Drive;<a name="line.18"></a>
<span class="sourceLineNo">019</span>import edu.wpi.first.wpilibj.templates.commands.dropper.MoveDoorJoystick;<a name="line.19"></a>
<span class="sourceLineNo">020</span>import edu.wpi.first.wpilibj.templates.commands.lifter.ControlScissors;<a name="line.20"></a>
<span class="sourceLineNo">021</span><a name="line.21"></a>
<span class="sourceLineNo">022</span>/**<a name="line.22"></a>
<span class="sourceLineNo">023</span> * The VM is configured to automatically run this class, and to call the<a name="line.23"></a>
<span class="sourceLineNo">024</span> * functions corresponding to each mode, as described in the IterativeRobot<a name="line.24"></a>
<span class="sourceLineNo">025</span> * documentation. If you change the name of this class or the package after<a name="line.25"></a>
<span class="sourceLineNo">026</span> * creating this project, you must also update the manifest file in the resource<a name="line.26"></a>
<span class="sourceLineNo">027</span> * directory.<a name="line.27"></a>
<span class="sourceLineNo">028</span> */<a name="line.28"></a>
<span class="sourceLineNo">029</span>public class RobotTemplate extends IterativeRobot {<a name="line.29"></a>
<span class="sourceLineNo">030</span><a name="line.30"></a>
<span class="sourceLineNo">031</span>    Command autonomousCommand;<a name="line.31"></a>
<span class="sourceLineNo">032</span><a name="line.32"></a>
<span class="sourceLineNo">033</span>    /**<a name="line.33"></a>
<span class="sourceLineNo">034</span>     * This function is run when the robot is first started up and should be<a name="line.34"></a>
<span class="sourceLineNo">035</span>     * used for any initialization code.<a name="line.35"></a>
<span class="sourceLineNo">036</span>     */<a name="line.36"></a>
<span class="sourceLineNo">037</span>    public void robotInit() {<a name="line.37"></a>
<span class="sourceLineNo">038</span>        // instantiate the command used for the autonomous period<a name="line.38"></a>
<span class="sourceLineNo">039</span>        autonomousCommand = new ExampleCommand();<a name="line.39"></a>
<span class="sourceLineNo">040</span><a name="line.40"></a>
<span class="sourceLineNo">041</span>        // Initialize all subsystems<a name="line.41"></a>
<span class="sourceLineNo">042</span>        RobotMap.init();<a name="line.42"></a>
<span class="sourceLineNo">043</span>        initSmartDashboard();<a name="line.43"></a>
<span class="sourceLineNo">044</span>        CommandBase.init();<a name="line.44"></a>
<span class="sourceLineNo">045</span>        <a name="line.45"></a>
<span class="sourceLineNo">046</span>        System.out.println("Robot Init!");<a name="line.46"></a>
<span class="sourceLineNo">047</span>        <a name="line.47"></a>
<span class="sourceLineNo">048</span>    }<a name="line.48"></a>
<span class="sourceLineNo">049</span><a name="line.49"></a>
<span class="sourceLineNo">050</span>    public void autonomousInit() {<a name="line.50"></a>
<span class="sourceLineNo">051</span>        // schedule the autonomous command (example)<a name="line.51"></a>
<span class="sourceLineNo">052</span>        autonomousCommand.start();<a name="line.52"></a>
<span class="sourceLineNo">053</span>        Scheduler.getInstance().removeAll();<a name="line.53"></a>
<span class="sourceLineNo">054</span>        <a name="line.54"></a>
<span class="sourceLineNo">055</span>        Scheduler.getInstance().add(new AutonomousCommand());<a name="line.55"></a>
<span class="sourceLineNo">056</span>    }<a name="line.56"></a>
<span class="sourceLineNo">057</span><a name="line.57"></a>
<span class="sourceLineNo">058</span>    /**<a name="line.58"></a>
<span class="sourceLineNo">059</span>     * This function is called periodically during autonomous<a name="line.59"></a>
<span class="sourceLineNo">060</span>     */<a name="line.60"></a>
<span class="sourceLineNo">061</span>    public void autonomousPeriodic() {<a name="line.61"></a>
<span class="sourceLineNo">062</span>        Scheduler.getInstance().run();<a name="line.62"></a>
<span class="sourceLineNo">063</span>    }<a name="line.63"></a>
<span class="sourceLineNo">064</span><a name="line.64"></a>
<span class="sourceLineNo">065</span>    public void teleopInit() {<a name="line.65"></a>
<span class="sourceLineNo">066</span>        // This makes sure that the autonomous stops running when<a name="line.66"></a>
<span class="sourceLineNo">067</span>        // teleop starts running. If you want the autonomous to <a name="line.67"></a>
<span class="sourceLineNo">068</span>        // continue until interrupted by another command, remove<a name="line.68"></a>
<span class="sourceLineNo">069</span>        // this line or comment it out.<a name="line.69"></a>
<span class="sourceLineNo">070</span>        Scheduler.getInstance().removeAll();<a name="line.70"></a>
<span class="sourceLineNo">071</span>        autonomousCommand.cancel();<a name="line.71"></a>
<span class="sourceLineNo">072</span>        Scheduler.getInstance().add(new Drive());<a name="line.72"></a>
<span class="sourceLineNo">073</span>        Scheduler.getInstance().add(new ControlScissors());<a name="line.73"></a>
<span class="sourceLineNo">074</span>        Scheduler.getInstance().add(new MoveDoorJoystick());<a name="line.74"></a>
<span class="sourceLineNo">075</span>        <a name="line.75"></a>
<span class="sourceLineNo">076</span>        Scheduler.getInstance().run();<a name="line.76"></a>
<span class="sourceLineNo">077</span>    }<a name="line.77"></a>
<span class="sourceLineNo">078</span><a name="line.78"></a>
<span class="sourceLineNo">079</span>    /**<a name="line.79"></a>
<span class="sourceLineNo">080</span>     * This function is called periodically during operator control<a name="line.80"></a>
<span class="sourceLineNo">081</span>     */<a name="line.81"></a>
<span class="sourceLineNo">082</span>    public void teleopPeriodic() {<a name="line.82"></a>
<span class="sourceLineNo">083</span>        Scheduler.getInstance().run();<a name="line.83"></a>
<span class="sourceLineNo">084</span>        <a name="line.84"></a>
<span class="sourceLineNo">085</span>        smartDashboardPeriodic();<a name="line.85"></a>
<span class="sourceLineNo">086</span>                <a name="line.86"></a>
<span class="sourceLineNo">087</span>    }<a name="line.87"></a>
<span class="sourceLineNo">088</span>    <a name="line.88"></a>
<span class="sourceLineNo">089</span>    public void initSmartDashboard()<a name="line.89"></a>
<span class="sourceLineNo">090</span>    {<a name="line.90"></a>
<span class="sourceLineNo">091</span>        SmartDashboard.putNumber("number of cycles: ", 0);<a name="line.91"></a>
<span class="sourceLineNo">092</span>        SmartDashboard.putNumber("move to cycles: ", 0);<a name="line.92"></a>
<span class="sourceLineNo">093</span>        SmartDashboard.putNumber("hang: ", 0);<a name="line.93"></a>
<span class="sourceLineNo">094</span>        SmartDashboard.putNumber("move to hanging: ", 0);<a name="line.94"></a>
<span class="sourceLineNo">095</span>        SmartDashboard.putNumber("move to collection: ", 0);<a name="line.95"></a>
<span class="sourceLineNo">096</span>        SmartDashboard.putNumber("move to scoring: ", 0);<a name="line.96"></a>
<span class="sourceLineNo">097</span>        SmartDashboard.putNumber("lifter move speed: ", 1);<a name="line.97"></a>
<span class="sourceLineNo">098</span>        SmartDashboard.putNumber("drive move speed: ", 0.7);<a name="line.98"></a>
<span class="sourceLineNo">099</span>        SmartDashboard.putNumber("door move speed: ", 0.3);<a name="line.99"></a>
<span class="sourceLineNo">100</span>        <a name="line.100"></a>
<span class="sourceLineNo">101</span>    }<a name="line.101"></a>
<span class="sourceLineNo">102</span>    <a name="line.102"></a>
<span class="sourceLineNo">103</span>    public void smartDashboardPeriodic()<a name="line.103"></a>
<span class="sourceLineNo">104</span>    {<a name="line.104"></a>
<span class="sourceLineNo">105</span>        SmartDashboard.putNumber("number of cycles: ", CommandBase.lifter.countCycles());<a name="line.105"></a>
<span class="sourceLineNo">106</span>        SmartDashboard.putBoolean("is door open: ", RobotMap.doorOpen.get());<a name="line.106"></a>
<span class="sourceLineNo">107</span>        SmartDashboard.putBoolean("is door close: ", RobotMap.doorClose.get());<a name="line.107"></a>
<span class="sourceLineNo">108</span>        SmartDashboard.putBoolean("is lifter at bottom: ", RobotMap.bottomLifter.get());<a name="line.108"></a>
<span class="sourceLineNo">109</span>        SmartDashboard.putBoolean("is lifter at top: ", RobotMap.topLifter.get());<a name="line.109"></a>
<span class="sourceLineNo">110</span>    }<a name="line.110"></a>
<span class="sourceLineNo">111</span>}<a name="line.111"></a>




























































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